hi!
I am learning how to work with gazebo+moveit on ros indigo. I am following the book "Mastering ROS for Robotics Programming" and i am working with seven_dof_arm. I tried to execute only moveit, planned a motion and all did well and the same happen when i only work with gazebo only and control by terminal a joint to move. My problem happens when i have the two running and somehow i cant execute my planning from moveit to gazebo, it gives always this error: "Failed to validate trajectory: couldn't receive full current joint state within 1s".
I don't known how to resolve this problem...
i have gazebo 2, ros indigo, moveit last update (from january 2017), ubuntu 14.04 trusty.
My result in the terminal when i try to plan and execute a valid state:
[ INFO] [1484581574.863269930, 60.697000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1484581574.864123376, 60.697000000]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1484581574.864214951, 60.697000000]: No planner specified. Using default.
[ INFO] [1484581574.864274631, 60.697000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581574.864428301, 60.697000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581574.864680354, 60.697000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581574.864967007, 60.697000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581574.865112877, 60.697000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581574.865192578, 60.697000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581574.865431756, 60.697000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581574.865522202, 60.697000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581574.865631368, 60.697000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.092653727, 60.870000000]: LBKPIECE1: Created 132 (30 start + 102 goal) states in 116 cells (28 start (28 on boundary) + 88 goal (88 on boundary))
[ INFO] [1484581575.096303094, 60.873000000]: LBKPIECE1: Created 90 (53 start + 37 goal) states in 77 cells (51 start (51 on boundary) + 26 goal (26 on boundary))
[ INFO] [1484581575.099875817, 60.876000000]: LBKPIECE1: Created 93 (39 start + 54 goal) states in 78 cells (38 start (38 on boundary) + 40 goal (40 on boundary))
[ INFO] [1484581575.148138305, 60.908000000]: LBKPIECE1: Created 152 (47 start + 105 goal) states in 137 cells (46 start (46 on boundary) + 91 goal (91 on boundary))
[ INFO] [1484581575.219947981, 60.970000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.355519 seconds
[ INFO] [1484581575.220561589, 60.970000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581575.220679319, 60.971000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581575.220783265, 60.971000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.220883439, 60.971000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.222415665, 60.971000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581575.222642371, 60.971000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.225482043, 60.975000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581575.225660210, 60.975000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.271342086, 60.995000000]: LBKPIECE1: Created 55 (18 start + 37 goal) states in 43 cells (18 start (18 on boundary) + 25 goal (25 on boundary))
[ INFO] [1484581575.376397773, 61.029000000]: LBKPIECE1: Created 129 (46 start + 83 goal) states in 114 cells (45 start (45 on boundary) + 69 goal (69 on boundary))
[ INFO] [1484581575.379188044, 61.029000000]: LBKPIECE1: Created 244 (142 start + 102 goal) states in 221 cells (132 start (132 on boundary) + 89 goal (89 on boundary))
[ INFO] [1484581575.396009612, 61.039000000]: LBKPIECE1: Created 154 (55 start + 99 goal) states in 140 cells (53 start (53 on boundary) + 87 goal (87 on boundary))
[ INFO] [1484581575.865887723, 61.440000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.645353 seconds
[ INFO] [1484581575.866652837, 61.441000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581575.866837889, 61.441000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.867170960, 61.441000000]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1484581575.867379753, 61.441000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1484581575.958625159, 61.503000000]: LBKPIECE1: Created 126 (73 start + 53 goal) states in 113 cells (70 start (70 on boundary) + 43 goal (43 on boundary))
[ INFO] [1484581575.965867380, 61.509000000]: LBKPIECE1: Created 126 (60 start + 66 goal) states in 114 cells (58 start (58 on boundary) + 56 goal (56 on boundary))
[ INFO] [1484581576.509494547, 61.929000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.642884 seconds
[ INFO] [1484581576.510056518, 61.929000000]: SimpleSetup: Path simplification took 0.000456 seconds and changed from 7 to 2 states
[ INFO] [1484581577.430458282, 62.637000000]: Received new trajectory execution service request...
[ WARN] [1484581578.900054544, 63.644000000]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1484581578.900165733, 63.644000000]: Execution completed: ABORTED
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